Telepresence Puppet

Project Description

This bit of code is supposed to allow one to remotely control a computer with a camera and some motors. Let's see how it turns out!

It uses the incredible https://webrtc.org/ and the https://github.com/priologic/easyrtc Javascript libaries to make it all happen.

Major inspiration and ideas came from:

• William Cooley's video https://youtu.be/rtgysHYEnNo
• ArchReactors telebotv2 https://github.com/ArchReactor/telebotv2

Software Environment Setup Notes

1. Install NodeJS, v6

• Linux:
  • curl -sL https://deb.nodesource.com/setup_6.x | sudo -E bash -
  • sudo apt-get install -y nodejs
  • check with node -v. Should say v6.10.0 or greater
• Windows:
  • Use installer from nodejs.org

2. Clone EasyRTC

• git clone https://github.com/priologic/easyrtc.git
• put it at the same directory level as this tpp code.

3. Change directory to easyRTC, and follow their installation instructions

• npm install in a couple of places

4. Create self signed key and certs

• In the directory tpp/server, create a key and cert.
• openssl genrsa -out domain.key 2048
• openssl req -new -x509 -key domain.key -out domain.crt -days 3650 -subj /CN=www.example.com
• run npm install in tpp/server to install dependencies.

Running

• On Remote Robot
  • Run server
    • cd server
    • node server_ssl.js
  • Open the Chrome browser and navigate to https://localhost:8443/robot.html
• On Client computer
  • open Chrome to https://ip.of.remote.com:8443/?username=remote
  • Connect using the connect to button on the lower right corner.

Caviots, Assumptions, Limitations

• Only works when computers are on the same network.
  • I don't want to deal with the complexities of that yet.

Status

2018-03-38

Lot of small tweaks. I'm using it lots for my remote work. Still not moving around, only pan/tilt camera in my cubical right now.

2017-09-30

On screen mouse controls working. Add map function to scale input to needed output ranges.

2017-08-05

Switching development over to Linux. Basic serial port commands are working, need to finish maestro driver

2017-04-24

Discovered node-pololumaestro. It looks excellent, but unfortunately it hasn't be updated in 3 years and doesn't install for me.

I'll see if I can quickly create a simple driver for the maestro. I don't have the JavaScript/Node skills to update the package.

To Do List

• Add instructions on creating certs to README.md.
• Figure out CSS to arrange the web page the way I want it.
• Get WebRTC data channel plumbed and working.
• Incorporate virtual joystick for control of camera, motors, etc.
• Figure out if possible to set name instead of using the randomly generated name.
• Get the serial port working via nodejs.
• Implement web to serial connection.
• Write code for controlling servos.
• Write code for controlling motors.
• Set default remote name to something like "remote_bot"
• Add remote control of volume.
• Implement heartbeat/disconnect detection.
• Implement disconnect handling on client side.
• Put some sort of mobile base together so I have something to control.
• It looks like remote speakers will be helpful.
• Consider external microphone.
• Figure out STUN and TURN servers so it can be used through NAT and firewalls
• Add some sort of authentication
• Fix certificate to avoid browser warnings.